I'm looking for links to IK algorithms and/or source code. Not sure which type will be used (Jacobian or Trigonometric - most definitely not Analytic as it needs to be a general IK solver). Unsurprisingly, this is not discussed at any of the 'game developer' sites (FlipCode, DevMaster, Gamasutra) since games usally don't require IK solvers and such.

Will search on IEEE and Google, but nice papers of mathematical derivations don't really help in the implementation in the real world - as pretty as they look. :)

Thank you very much,

Robert

Kuroyume0161

01-06-2007, 08:49 PM

Sorry for the double-post. Seems that CGTalk is crawling on its hands and knees to worship the porcelain god today. Spotty at average.

dlanier

01-07-2007, 05:32 PM

Hi,

As a starting point you could look at Darwin3D (Jeff Lander) web site :
http://www.darwin3d.com/confpage.htm

There is a real time inverse kinematics in 2D , there is the article and I can't find it but there is the source code somewhere, as I've seen it in the past, an exe with its source code...
Best regards,

dlanier

01-07-2007, 05:35 PM

Hi,

As a starting point you could look at Darwin3D (Jeff Lander) web site :
http://www.darwin3d.com/confpage.htm

There is a real time inverse kinematics in 2D, there is the article and some exe with theirs source code are available on : http://www.darwin3d.com/gdm1998.htm

Best regards,

Kuroyume0161

01-07-2007, 06:25 PM

Not only is it 2D, but it's an Analytical solver. The caveat with these is they are only good for simple and specific IK - not good for general solutions and scaling increases complexity (longer chains).

I have picked up Eberly's "3D Game Engine Architecture" text which covers 3D IK generally well (looks to be a Trigonometric solver). Also awaiting an old Game Developer magazine (April 2002) to be delivered which supposedly has a good article on IK.

There are plenty of articles on IEEE (mainly robotic) and although the IK system is being constructed from scratch it doesn't mean that I want to go from first principles (i.e.: the mathematical formulas). The idea is to implement one in about a month, not develop one in several! :)

Thanks nonetheless!

Robert

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